Event-Triggered Communication-Based Control for Strict-Feedback Nonlinear Systems

In this article, we shall investigate the event-triggered communication control problem for strict-feedback nonlinear systems with measurement outputs. First, two event-triggered communication schemes are designed. Based on both event-triggered schemes, the measurement output and control input signals are only transmitted at triggering time instants, which saves communication costs from the sensor to the controller and from the controller to the actuator. Meanwhile, Zeno behavior can be excluded under the proposed triggering schemes. Second, since the full-state information is not available to the controller, by developing an observer, the system state is estimated and a controller based on estimated state information is designed. Due to the irregular sampling of information communication and state estimation error affects each other, the parameters of the state observer, the controller, and the event-triggering mechanism should be jointly designed. It is proved that the closed-loop system state converges to the origin. Finally, a simulation example verifies the validity of the obtained theoretical result.